Separate Volt CC steering minimum from cruise engagement

openpilot/selfdrive/car/car_events.py

@@ -19,6 +19,8 @@ class CarEvents:
     self.CP = CP
     self.event_rules = event_rules(CP)
 
+    from opendbc.car.gm.values import is_volt_cc_profile
+    self.volt_cc_profile = CP.brand == "gm" and is_volt_cc_profile(CP)
     self.steering_unpressed = 0
     self.low_speed_alert = False
     self.no_steer_warning = False
@@ -74,6 +76,12 @@ class CarEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
+      if self.volt_cc_profile:
+        # Conventional LONG requires the car's cruise acknowledgment. MAIN alone
+        # still arms independent steering and cannot create a LONG engagement.
+        if (CS.canValid and not CS.canTimeout and CS.cruiseState.available and CS.cruiseState.enabled and
+            (CS.buttonEnable or not CS_prev.cruiseState.enabled)):
+          events.add(EventName.buttonEnable)
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
       if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
@@ -152,7 +160,7 @@ class CarEvents:
       events.add(EventName.invalidLkasSetting)
     if CS.lowSpeedAlert:
       events.add(EventName.belowSteerSpeed)
-    if CS.buttonEnable:
+    if CS.buttonEnable and not self.volt_cc_profile:
       events.add(EventName.buttonEnable)
 
     # Handle cancel button presses

openpilot/starpilot/aol/tests/test_gm_parked_startup.py

@@ -26,8 +26,8 @@ def test_cold_park_main_waits_without_losing_intent(index, main_action):
   _exercise_parked_main(index, main_action)
 
 
-def _exercise_parked_main(index, main_action, *, below_engage=False):
-  cp = list(cases())[index]
+def _exercise_parked_main(index, main_action, *, below_engage=False, cp=None):
+  cp = list(cases())[index] if cp is None else cp
   case = fixture.IoniqAvailabilityTests(methodName='runTest')
   with OpenpilotPrefix(), ExitStack() as cleanup:
     cleanup.callback(case.doCleanups)
@@ -44,6 +44,9 @@ def _exercise_parked_main(index, main_action, *, below_engage=False):
     cleanup.callback(card.vehicle_startup.close)
     card.ci_initialized = True
     card.car_params_published = True
+    if getattr(card, 'volt_cc_selected', False):
+      card.volt_cc_boot_offset_ns = 0
+      card.volt_cc_source_floor_ns = 9_000_000_000
     card.sm.frame = 1
     assert card.CP.to_dict() == sd.CP.to_dict() == controls.CP.to_dict()
     original_pm = card.pm
@@ -159,6 +162,11 @@ def _exercise_parked_main(index, main_action, *, below_engage=False):
     def receive_card(now):
       nonlocal last_control_stamp
       rows = list(wire_batch(now))
+      if getattr(card, 'volt_cc_selected', False):
+        device = messaging.new_message('deviceState', valid=True, logMonoTime=now)
+        device.deviceState.started = True
+        device.deviceState.startedMonoTime = 9_000_000_000
+        rows.append(device.as_reader())
       rows += [sd.pm.messages[k] for k in ('aolAxisState', 'selfdriveState', 'onroadEvents') if k in sd.pm.messages]
       published = controls.pm.messages['carControl']
       if published.logMonoTime != last_control_stamp:
@@ -178,10 +186,19 @@ def _exercise_parked_main(index, main_action, *, below_engage=False):
     def physical(tick, stamp, driving):
       speed = max(4.0, cp.minSteerSpeed + 2.0)
       if below_engage:
+        speed = cp.minSteerSpeed + 0.05
         assert speed < cp.minEnableSpeed
       else:
         speed = max(speed, cp.minEnableSpeed + 2.0)
       packets = parsed_packets(cp, packer, stamp, tick, speed if driving else 0.0, True)
+      from opendbc.car.gm.values import CAR, is_volt_cc_f1_profile
+      if is_volt_cc_f1_profile(cp):
+        packets = [f for f in packets if f[0] != 0xBE]
+        packets.append(packer.make_can_msg('EBCMBrakePedalPosition', 0, {}))
+      if cp.carFingerprint == CAR.CHEVROLET_VOLT_CC and tick in (320, 321):
+        button = packer.make_can_msg('ASCMSteeringButton', 0,
+          {'ACCButtons': 3 if tick == 320 else 1, 'RollingCounter': tick % 4})
+        packets = [f for f in packets if f[0] != button[0]] + [button]
       packets = [f for f in packets if f[0] not in (0x1F5, 0x12A, 0x184, 0x17D)]
       if cp.pcmCruise and cp.networkLocation == structs.CarParams.NetworkLocation.fwdCamera:
         address = packer.make_can_msg('ASCMActiveCruiseControlStatus', 2, {})[0]
@@ -210,7 +227,7 @@ def _exercise_parked_main(index, main_action, *, below_engage=False):
     assert safety.safety_config_valid() and safety.aol_get_permission_mask() == 0
     tx = 0
     active = 0
-    for tick in range(1, 381):
+    for tick in range(1, 581 if below_engage and cp.carFingerprint == "CHEVROLET_VOLT_CC" else 381):
       now = 10_020_000_000 + (tick - 1) * 10_000_000
       driving = tick > 300
       safety.set_timer(now // 1000)

openpilot/starpilot/aol/tests/test_volt_cc_engagement.py

@@ -0,0 +1,50 @@
+from dataclasses import replace
+
+import pytest
+from opendbc.car import structs
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gm.tests.test_volt_cc_f1 import params as f1_params
+from opendbc.car.gm.tests.test_volt_cc_gas import fixture as be_fixture
+from openpilot.cereal import log
+from openpilot.selfdrive.car.car_events import CarEvents
+from openpilot.starpilot.aol.tests.test_gm_cc_lateral_minimum import setup
+from openpilot.starpilot.aol.tests.test_gm_parked_startup import _exercise_parked_main
+from openpilot.starpilot.car.gm.aol import cc_independent_lateral_below_engage
+
+
+def params(f1):
+  cp = f1_params() if f1 else be_fixture()[0]
+  cp.alternativeExperience = 32
+  return cp
+
+
+@pytest.mark.parametrize('f1', [False, True])
+def test_volt_cc_steering_minimum_keeps_cruise_minimum(f1):
+  cp = params(f1)
+  _, intent = setup()
+  assert cp.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)
+  assert cp.minEnableSpeed == pytest.approx(24 * CV.MPH_TO_MS)
+  assert cc_independent_lateral_below_engage(cp, intent, enabled=False, active=False)
+  assert not cc_independent_lateral_below_engage(cp, replace(intent, allowedLatch=False), enabled=False, active=False)
+  assert not cc_independent_lateral_below_engage(cp, intent, enabled=True, active=True)
+
+
+@pytest.mark.parametrize('f1', [False, True])
+@pytest.mark.parametrize('active,previous,button,valid,expected', [
+  (False, False, True, True, False), (True, False, False, True, True),
+  (True, True, True, True, True), (True, True, False, True, False),
+  (True, False, False, False, False)])
+def test_volt_cc_long_waits_for_real_cruise_ack(f1, active, previous, button, valid, expected):
+  cp = params(f1)
+  cs = structs.CarState(canValid=valid, buttonEnable=button, vEgo=12, gearShifter='drive')
+  cs.cruiseState.available = True
+  cs.cruiseState.enabled = active
+  prior = structs.CarState()
+  prior.cruiseState.enabled = previous
+  events = CarEvents(cp).update(cs, prior, structs.CarControl())
+  assert (log.OnroadEvent.EventName.buttonEnable in events.names) == expected
+
+
+@pytest.mark.parametrize('f1', [False, True])
+def test_volt_cc_main_already_on_arms_steering_at_seven_mph(f1):
+  _exercise_parked_main(0, 0, below_engage=True, cp=params(f1))

openpilot/starpilot/car/gm/aol.py

@@ -29,10 +29,10 @@ def native_accepts_cp(cp, model: int, param: int) -> bool:
 
 
 def cc_independent_lateral_below_engage(cp, intent, *, enabled, active):
-  """An armed independent Bolt LAT request uses its steering speed gate."""
-  from opendbc.car.gm.values import is_bolt_cc_profile
+  """An armed conventional-cruise LAT request uses its steering speed gate."""
+  from opendbc.car.gm.values import is_bolt_cc_profile, is_volt_cc_profile
   return bool(not enabled and not active and qualified_gm(cp) and aol_enabled(cp) and
-              is_bolt_cc_profile(cp) and intent is not None and intent.settingsQualified and
+              (is_bolt_cc_profile(cp) or is_volt_cc_profile(cp)) and intent is not None and intent.settingsQualified and
               intent.allowedLatch and intent.lateralArmed and not intent.pauseLateral)
 
 

prebuilt.json

@@ -1 +1 @@
-{"protected_inventory_sha256": "df360061636f084000aa4afe04c561fc519e8cebcb1c84a483a8eb716452db98", "schema_version": 1}
+{"protected_inventory_sha256": "505172af4fab7bd15c27b90d3c52205e2a64db67875aa1447008cc0ed932c5dc", "schema_version": 1}